全程恒定基座姿态零扰动的空间机械臂轨迹规划

黄兴宏; 贾英宏; 徐世杰; 卢山

doi:10.13700/j.bh.1001-5965.2016.0187

全程恒定基座姿态零扰动的空间机械臂轨迹规划

doi: 10.13700/j.bh.1001-5965.2016.0187

黄兴宏¹,
贾英宏^1, ,,
徐世杰¹,
卢山^{2, 3}

1.
北京航空航天大学宇航学院, 北京 100083
2.
上海航天控制技术研究所, 上海 20023
3.
上海市空间智能控制技术重点实验室, 上海 200233

基金项目:

国家自然科学基金 11272027

详细信息

作者简介:
黄兴宏，男，博士研究生。主要研究方向：航天器动力学与控制、空间机器人

贾英宏，男，博士，副教授。主要研究方向：航天器动力学与控制、空间机器人

徐世杰，男，博士，教授，博士生导师。主要研究方向：航天器轨道姿态动力学与控制、航天器制导导航与控制、深空探测

卢山，男，博士，高级工程师。主要研究方向：空间飞行器导航制导与控制技术

通讯作者:
贾英宏, E-mail:jia_yingh@163.com

中图分类号: V448.2;TP242.2
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- 被引次数: 0
出版历程
- 收稿日期: 2016-03-09
- 录用日期: 2016-04-08
- 网络出版日期: 2017-03-20

Trajectory planning of a space manipulator with constant zero-disturbance to base attitude

HUANG Xinghong¹,
JIA Yinghong^{1
, ,},
XU Shijie¹,
LU Shan^{2, 3}

1.
School of Astronautics, Beijing University of Aeronautics and Astronautics, Beijing 100083, China
2.
Shanghai Aerospace Control Technology Institute, Shanghai 20023
3.
Shanghai Key Laboratory of Aerospace Intelligent Control Technology, Shanghai 200233, China

Funds:

National Natural Science Foundation of China 11272027

摘要

摘要:
本文研究了全程恒定基座姿态零扰动的自由漂浮空间机器人（FFSR）末端位姿轨迹规划的问题。针对无运动学冗余自由度的三关节平面FFSR系统，首先建立了其末端位姿与关节角之间的状态变换关系，然后给出了以基座姿态和关节角为状态变量的系统方程。根据该系统方程，利用非线性系统的可控性判据证明了在保证全程恒定基座姿态零扰动的前提下，对FFSR系统的末端位置和姿态同时作轨迹规划的可行性；再利用最优控制策略，将轨迹规划问题转换为最优控制问题，设计了一种全程恒定基座姿态零扰动的末端位姿轨迹规划方法。数值仿真验证了结论的正确性和设计方法的有效性。
- 自由漂浮空间机器人 (FFSR) /
- 轨迹规划 /
- 全程恒定基座姿态零扰动 /
- 可控性 /
- 控制函数参数化
Abstract:
The end effector's position & attitude trajectory planning of a free-floating space robot (FFSR) with constant zero-disturbance to the base attitude was investigated. For a kinematically non-redundant three-degree-of-freedom FFSR, a state transformation between the position & attitude of the end effector and the joint angles was deduced, and then the system equations using the base attitude and joint angles as state variables was presented. According to the system equations, the feasibility of the constant zero-disturbance path planning of the end effector's position & attitude was proved via the controllability condition of a nonlinear system, and then a constant zero-disturbance path planning algorithm was developed by an optimal control strategy. Numerical examples validate the effectiveness of the proposed feasibility conclusion and the path planning algorithm.
- free-floating space robot (FFSR) /
- trajectory planning /
- constant zero-disturbance to base attitude /
- controllability /
- parameterization of control variables

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图 1 三自由度平面FFSR一般模型

Figure 1. Three-degree-of-freedom planar FFSR general model

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图 2 迭代收敛过程

Figure 2. Iterative convergence process

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图 3 系统状态量

Figure 3. State variables of system

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图 4 机械臂末端位姿

Figure 4. Position and attitude of end effector of manipulator

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图 5 系统控制量

Figure 5. Control variables of system

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表 1 系统部件参数

Table 1. Parameters of system components

部件	m_j/kg	I_j/(kg·m²)	l_j/m
B₀	500.0	62.5	0.5
B₁	100.0	33.3	2.0
B₂	100.0	75.0	3.0
B₃	100.0	200.0	4.0

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表 2 轨迹规划任务的始末状态

Table 2. Initial and desired end states of trajectory planning task

状态	时刻/s	基座姿态/(°)	末端位置/m	末端姿态/(°)	关节角/(°)
状态	时刻/s	初始状态	0	5.0	(4.0066; -5.0158)	76.5	(2.5;-54.0; -30.0)
终端状态	16.0	5.0	(5.5877; -3.2883)	-60.0

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表 3 迭代变量的初值和终值

Table 3. Initial and final values of iteration variables

变量	取值
α₂迭代初值	(0.05, -0.05, 0.05, -0.05, 0.05, -0.05, 0.05)
α₃迭代初值	(0.05, -0.05, 0.05, -0.05, 0.05, -0.05, 0.05)
α₂迭代终值	(-0.0505, -0.2734, 0.3977, -0.3145, 0.0181, -0.0292, -0.0859)
α₃迭代终值	(0.1600, -0.4040, -0.1294, -0.0958, -0.0993, 0.0242, -0.0011)

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